CN108786135A - A kind of tumbler hopping robot - Google Patents
A kind of tumbler hopping robot Download PDFInfo
- Publication number
- CN108786135A CN108786135A CN201810597168.3A CN201810597168A CN108786135A CN 108786135 A CN108786135 A CN 108786135A CN 201810597168 A CN201810597168 A CN 201810597168A CN 108786135 A CN108786135 A CN 108786135A
- Authority
- CN
- China
- Prior art keywords
- robot
- shell
- mounting bracket
- hopping
- tumbler
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
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Classifications
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
- A63H15/00—Other gravity-operated toy figures
- A63H15/06—Self-righting toys
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
- A63H29/00—Drive mechanisms for toys in general
- A63H29/22—Electric drives
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
- A63H33/00—Other toys
- A63H33/22—Optical, colour, or shadow toys
Abstract
The invention discloses a kind of tumbler hopping robots, are made of shell, bouncing mechanism, driving mechanism, flash lamp, acoustical generator, sensor, circuit robot power supply and control system.It utilizes the shape feature of tumbler, bouncing mechanism is installed in shell, hopping leg is provided with certain angle of inclination, compression spring is releasing energy while driving Robot set angle take-off, make robot after spring is landed not by the fast quick-recovery body posture of other auxiliary devices using the body characteristics of tumbler shell, to realize robot continuous take-off forward.Flash lamp, acoustical generator and control circuit power supply are installed in robot shell to control the sound and light program of the robot, and realize that acousto-optic function is opened when being contacted with ground for robot by induction system, acousto-optic function is closed when leaving ground, recreational to increase robot.Utilize the interest of the cartoon and zoomorphism increase robot of the body outer surface of tumbler shell.
Description
Technical field
The present invention relates to robotic technology fields, specifically, being related to a kind of tumbler hopping robot.
Background technology
Tumbler is widely used because of its mechanics principle in the production and living of people, utilizes tumbler principle system
The toy of work has brought enjoyment, and still, tumbler body characteristics are only simply utilized in current tumbler, interest
Taste is not high.
Patent of invention CN107469361A proposes " a kind of tumbler bird " comprising bottom case, face-piece, clump weight,
Wing agitates mechanism, swing mechanism and driving mechanism, the driving mechanism that the wing is driven to agitate to drive while mechanism
The swing mechanism is swung, which proposes to realize that the wing of tumbler bird agitates the action with body swing,
It is not mentioned to the spring-like movement of tumbler, toy bird is made only to be used as a kind of games for play.
But using tumbler mechanism and increase bouncing mechanism in tumbler shell, it can be rapid extensive after so that hopping robot is bounced
Multiple take-off posture, increases acousto-optic system to tumbler on this basis, not only increases the interest of tumbler robot,
And using the characteristic of the fast quick-recovery posture of tumbler hopping robot, developing performance to future, more preferably hopping robot carries
For certain researching value.
Invention content
In order to avoid the shortcomings of the prior art, the present invention proposes a kind of tumbler hopping robot.Robot profit
With the shape feature of tumbler, robot is made to be not required to after spring is landed by other auxiliary bodies and fast quick-recovery body appearance
State is continuously bounced forward to realize；Sound-light controlled system and induction system are installed in shell by robot, to realize machine
People opens acousto-optic function under the auxiliary of induction system.
The technical solution adopted by the present invention to solve the technical problems is:Including shell, bouncing mechanism, driving mechanism, sudden strain of a muscle
Light lamp, acoustical generator, sensor, circuit board, power supply and control system；The shell is thin wall ellipsoidal structure, upper and lower two parts
Be fastened installation, and shell internal upper part is divided into cavity body, and the bottom of lower part has clump weight to be fixed with one with shell in shell,
Position is discoid groove among the outer wall bottom of shell, and there are blind hole, clump weight central axis and shell in clump weight centre position
10~30 ° of angles are set between the vertical central axis of body；
The bouncing mechanism includes hopping leg, mounting bracket, compression spring, twisted wire, and the hopping leg is hollow cylinder, hopping leg
It is divide into upper part and lower part, hopping leg lower part is divided into hollow cylinder and is fixed in the blind hole in shell among bottom weight block, spring
Leg top, which is divided into axially dividing equally with hollow cylinder, cuts into four columns, the distance of four columns between any two be more than pinion gear with
The sum of reel thickness, part coordinates with mounting bracket and installs on hopping leg；
The mounting bracket is T shape stereochemical structure, and there is a circular hole at position among mounting bracket, mounting bracket be longitudinally provided with communicate it is recessed
Slot, transverse ends have symmetrical grooves, wherein one end groove to be communicated with intermediate circular hole, and mounting bracket is matched with hopping leg by gear shaft
It closes, is co-axially mounted, mounting bracket is slided up and down along hopping leg surface, and the compression spring, which is nested on hopping leg, to be located under mounting bracket
Face, compression spring one end are fixed in the blind hole in shell among bottom weight block, and the other end is connected with mounting bracket, when mounting bracket compresses
When driving shell take-off after compression spring, robot realization is continuously bounced forward, and described twisted wire one end is fixed on bottom weight in shell
In blind hole among block, the other end is connected with the reel in driving mechanism；
The driving mechanism includes decelerating motor, partial gear, pinion gear, reel, gear shaft, motor output shaft,
Decelerating motor is located in the groove of mounting bracket one end, and partial gear is fixed on the motor output shaft of decelerating motor, and power supply is fixed
In mounting bracket other end groove, the pinion gear is connected with gear shaft to be located on mounting bracket, and partial gear is nibbled with pinion gear
It closes, the reel is located at pinion gear side, and is co-axially mounted with pinion gear, and is connected in the twisted wire on reel and spring
Leg bottom connects；The flash lamp, acoustical generator are separately fixed at the top of clump weight in shell, are located at bouncing mechanism side, electricity
Road plate is located at the bouncing mechanism other side, and circuit board is installed for control circuit, the spring of control robot, driving, flash of light, induction and
Sounding.
The sensor is located in housing bottom and the discoid groove of ground contact portion, when robot lands, passes
Sensor transfers data to control system and sends out instruction, opens flash lamp and acoustical generator, when ground is left in robot take-off,
Sensor transfers data to control system, closes flash lamp and acoustical generator, when robot landing contacts ground, sensor will count
According to being transferred to control system, reopening flash lamp and acoustical generator.
Advantageous effect
A kind of tumbler hopping robot proposed by the present invention utilizes the shape feature of tumbler, increases in shell
Bouncing mechanism makes robot after spring is landed not by the fast quick-recovery body posture of other auxiliary devices, continuous to realize
Spring.Sound-light controlled system and induction system are installed in shell by robot, to realize robot induction system auxiliary
Lower unlatching acousto-optic function.
The bouncing mechanism of the present invention utilizes motor-driven gear, gear that reel, reel is driven to pull twisted wire, compression pressure
Spring, for gear gear motion at partial gear hypodontia, mounting bracket pulls compression spring, compression spring energy release, to realize robot
Take-off.
The bouncing mechanism that the present invention uses because hopping leg is provided with angle of inclination, with hopping leg coaxially pacify by mounting bracket
Dress, so compression spring is releasing energy while driving Robot set angle take-off, to realize robot continuous take-off forward.
Robot of the present invention can make robot fast quick-recovery appearance after spring is landed using the body characteristics of tumbler shell
State to realize the continuous bounce of robot in the case where not needing auxiliary body, and utilizes robot housing outer surface
Cartoon and zoomorphism increase the interest of robot.
The present invention controls the sound and light program of the robot using flash lamp, acoustical generator and control circuit, and passes through sense
System is answered to realize that acousto-optic function is opened when being contacted with ground for robot, acousto-optic function is closed when leaving ground, to increase machine
People is recreational.
Description of the drawings
A kind of tumbler hopping robot of the present invention is described in further detail with embodiment below in conjunction with the accompanying drawings.
Fig. 1 is tumbler hopping robot structural schematic diagram of the present invention.
Fig. 2 is the cross section view of Fig. 1.
Fig. 3 is Fig. 2 partial enlarged views.
Fig. 4 is that Fig. 2 removes mounting bracket and the sectional view after driving mechanism.
Fig. 5 is mounting bracket and driving mechanism schematic diagram.
Fig. 6 is mounting bracket and driving mechanism vertical view.
Fig. 7 is mounting bracket axonometric drawing.
Fig. 8 is driving mechanism schematic diagram.
Fig. 9 is partial gear schematic diagram.
In figure
1. 7. twisted wire of shell 2. clump weight, 3. blind hole, 4. hopping leg, 5. mounting bracket, 6. compression spring, 8. hollow cylinder 9.
15. circular hole of column 10. power supply, 11. decelerating motor, 12. partial gear, 13. pinion gear, 14. reel, 16. motor exports
21. sensor of axis 17. gear shaft, 18. mounting hole, 19. flash lamp, 20. acoustical generator, 22. circuit board
Specific implementation mode
The present embodiment is a kind of tumbler hopping robot.
Refering to fig. 1~Fig. 9, the present embodiment tumbler hopping robot, by shell, bouncing mechanism, driving mechanism, flash lamp
19, acoustical generator 20, sensor 21, circuit board 22, power supply 10 and control system composition；Wherein, shell 1 is thin wall ellipse knot
Structure, upper and lower two parts are fastened installation；1 internal upper part of shell is divided into cavity body, and clump weight 2 is arranged at the bottom of lower part in shell 1
It is fixed with one with shell 1, position is discoid groove among 1 outer wall bottom of shell.There is blind hole at 2 intermediate position of clump weight, matches
10~30 ° of angles are set between 1 vertical central axis of 2 central axis of pouring weight and shell.
Bouncing mechanism includes hopping leg 4, mounting bracket 5, compression spring 6, twisted wire 7, and hopping leg 4 is hollow cylinder, and hopping leg 4 divides
For upper and lower two parts, hopping leg lower part is divided into hollow cylinder 8 and is fixed in the blind hole in shell 1 among bottom weight block 2, and with
Blind hole inner wall clearance fit, gap size, which meets compression spring, to be nested on hollow cylinder.4 top of hopping leg is divided into hollow cylinder
8 axially respectively cut into four columns 9, and the distance of four columns between any two is more than the sum of pinion gear and reel thickness, bullet
It jumps part on leg 4 and coordinates installation with mounting bracket 5.
Mounting bracket 5 is T shape stereochemical structure, and there is a circular hole at 5 intermediate position of mounting bracket, mounting bracket 5 is longitudinal be provided with communicate it is recessed
Slot, 5 transverse ends of mounting bracket have symmetrical grooves, wherein one end groove to be communicated with intermediate circular hole, and mounting bracket 5 passes through with hopping leg
Gear shaft cooperation is co-axially mounted, and mounting bracket 5 is slided up and down along hopping leg surface.Compression spring 6, which is nested on hopping leg 4, is located at installation
Below frame 5,6 one end of compression spring is fixed in the blind hole 3 in shell 1 among bottom weight block 2, and the other end is fixed with mounting bracket 5
Connection.When driving 1 take-off of shell after 5 compression press spring 6 of mounting bracket, robot realization is continuously bounced forward.7 one end of twisted wire is fixed
In blind hole 3 in shell 1 among bottom weight block 2,7 other end of twisted wire is connected with the reel 14 in driving mechanism.
Driving mechanism includes decelerating motor 11, partial gear 12, pinion gear 13, reel 14, and gear shaft 17, motor are defeated
Shaft 16, decelerating motor 11 are located in 5 one end groove of mounting bracket, and partial gear 12 is fixed on the motor output of decelerating motor 11
On axis 16, power supply 10 is fixed in mounting bracket other end groove.Pinion gear 13 is connected with gear shaft 17, and on mounting bracket 5
Mounting hole 18 in, partial gear 12 is engaged with pinion gear 13.Reel 14 is located at 13 side of pinion gear, and with pinion gear 13
The twisted wire for being co-axially mounted, and being connected on reel 14 is connect with 4 bottom of hopping leg.
In the present embodiment, the top that flash lamp 19 and acoustical generator 20 are fixedly mounted on bottom weight block 2 in shell 1 is located at bullet
Chaser structure side, circuit board are located at the bouncing mechanism other side, and circuit board 22 is for the spring of control circuit installation control robot, drive
Dynamic, flash of light, induction and sounding.
In the present embodiment, sensor is located in shell 1 and the discoid groove of ground contact portion, when robot lands
When, sensor transfers data to control system and sends out instruction, flash lamp and acoustical generator is opened, when robot take-off leaves ground
When face, sensor transfers data to control system, closes flash lamp and acoustical generator, when robot landing contacts ground, sensing
Device transfers data to control system, reopening flash lamp and acoustical generator.
The present embodiment course of work
The control switch for opening robot in the work environment is placed by robot；The sensing of robot housing bottom first
Device 21 senses that robot and the contact condition on ground, sensor transfer data to control system, is controlled after data processing
System processed sends out instruction to flash lamp and acoustical generator so that robot sends out sound and light program；Meanwhile control system starts robot
Decelerating motor 11 in driving mechanism, it is endless to drive the partial gear 12 being fixed in reducing motor output shaft to rotate
All gear drives pinion rotation with 13 engaged transmission of pinion gear, partial gear；Because pinion gear is fixed on reel 14
On the same gear shaft 17, so, pinion gear 13 drives reel rotation, and the rotation of reel 14 is so that be fixed thereon
Twisted wire 7 is initially wrapped around on reel, and to pull mounting bracket 5 to move down, 5 compression press spring 6 of mounting bracket simultaneously starts to store energy
Amount.When partial gear 12 and pinion gear 13 are engaged at hypodontia, elastic potential energy abrupt release at this time, mounting bracket 5 pulls pressure
Spring 6 is with mobile robot take-off.Since the hopping leg 4 of robot is provided with certain angle of inclination with ground, so that compression spring 6
Robot take-off forward in a manner of parabolical is pulled, while robot take-off, sensor 21 leaves ground, and sensor will
Data are transferred to control system, close flash lamp and acoustical generator；While robot lands, sensor 21 senses and ground
When contact, sensor transfers data to control system, reopening flash lamp and acoustical generator.As robot landing is waved and extensive
While holding position again, robot is along with sound and light program so that robot has interest.
Claims (2)
1. a kind of tumbler hopping robot, it is characterised in that:Including shell, bouncing mechanism, driving mechanism, flash lamp, sounding
Device, sensor, circuit board, power supply and control system；The shell is thin wall ellipsoidal structure, and upper and lower two parts are fastened peace
Dress, shell internal upper part are divided into cavity body, and the bottom of lower part has clump weight to be fixed with one with shell in shell, shell wall bottom outside
Position is discoid groove among portion, and there are blind hole, clump weight central axis and the vertical center of shell in clump weight centre position
10~30 ° of angles are set between axis；
The bouncing mechanism includes hopping leg, mounting bracket, compression spring, twisted wire, and the hopping leg is hollow cylinder, and hopping leg is divided into
Upper and lower two parts, hopping leg lower part is divided into hollow cylinder and is fixed in the blind hole in shell among bottom weight block, on hopping leg
Part cuts into four columns axially to divide equally with hollow cylinder, and the distance of four columns between any two is more than pinion gear and spiral
The sum of thickness is taken turns, part coordinates with mounting bracket and installs on hopping leg；
The mounting bracket is T shape stereochemical structure, and mounting bracket centre position has circular hole, mounting bracket to be longitudinally provided with the groove communicated,
Transverse ends have symmetrical grooves, wherein one end groove to be communicated with intermediate circular hole, and mounting bracket is coordinated with hopping leg by gear shaft,
It being co-axially mounted, mounting bracket is slided up and down along hopping leg surface, and the compression spring, which is nested on hopping leg, to be located at below mounting bracket,
Compression spring one end is fixed in the blind hole in shell among bottom weight block, and the other end is connected with mounting bracket, is pressed when mounting bracket compresses
When driving shell take-off after spring, robot realization is continuously bounced forward, and described twisted wire one end is fixed on bottom weight block in shell
In intermediate blind hole, the other end is connected with the reel in driving mechanism；
The driving mechanism includes decelerating motor, partial gear, pinion gear, reel, gear shaft, motor output shaft, is slowed down
Motor is located in the groove of mounting bracket one end, and partial gear is fixed on the motor output shaft of decelerating motor, and power supply is fixed on peace
It shelves in other end groove, the pinion gear is connected with gear shaft to be located on mounting bracket, and partial gear is engaged with pinion gear, institute
It states reel and is located at pinion gear side, and be co-axially mounted with pinion gear, and be connected in the twisted wire on reel and hopping leg bottom
Portion connects；The flash lamp, acoustical generator are separately fixed at the top of clump weight in shell, are located at bouncing mechanism side, circuit board
Positioned at the bouncing mechanism other side, circuit board is installed for control circuit, the spring of control robot, driving, flash of light, induction and hair
Sound.
2. tumbler hopping robot according to claim 1, it is characterised in that:The sensor be located at housing bottom with
In the discoid groove of ground contact portion, when robot lands, sensor transfers data to control system and sends out finger
It enables, opens flash lamp and acoustical generator, when ground is left in robot take-off, sensor transfers data to control system, closes
Flash lamp and acoustical generator, when robot landing contact ground, sensor transfers data to control system, reopening flash lamp and
Acoustical generator.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810597168.3A CN108786135A (en) | 2018-06-12 | 2018-06-12 | A kind of tumbler hopping robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810597168.3A CN108786135A (en) | 2018-06-12 | 2018-06-12 | A kind of tumbler hopping robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108786135A true CN108786135A (en) | 2018-11-13 |
Family
ID=64088348
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810597168.3A Pending CN108786135A (en) | 2018-06-12 | 2018-06-12 | A kind of tumbler hopping robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108786135A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111414777A (en) * | 2020-03-20 | 2020-07-14 | 合肥联宝信息技术有限公司 | Scanner and scanning method |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH085756Y2 (en) * | 1989-12-28 | 1996-02-21 | 株式会社セガ・エンタープライゼス | Rocking toys |
| JP2006288840A (en) * | 2005-04-12 | 2006-10-26 | Bloom:Kk | Tumble toy |
| CN102556193A (en) * | 2012-01-09 | 2012-07-11 | 东南大学 | Hopping robot capable of hopping continuously |
| KR200462932Y1 (en) * | 2010-04-26 | 2012-10-16 | 왕현민 | Tumbler by torque driving |
| CN103407512A (en) * | 2013-08-18 | 2013-11-27 | 北京工业大学 | Polymorphic spherical hopping robot |
| CN203832605U (en) * | 2014-04-10 | 2014-09-17 | 西北工业大学 | Telescopic spherical robot |
| CN204502404U (en) * | 2015-03-20 | 2015-07-29 | 薛旭桐 | A kind of ball-shaped toy |
-
2018
- 2018-06-12 CN CN201810597168.3A patent/CN108786135A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH085756Y2 (en) * | 1989-12-28 | 1996-02-21 | 株式会社セガ・エンタープライゼス | Rocking toys |
| JP2006288840A (en) * | 2005-04-12 | 2006-10-26 | Bloom:Kk | Tumble toy |
| KR200462932Y1 (en) * | 2010-04-26 | 2012-10-16 | 왕현민 | Tumbler by torque driving |
| CN102556193A (en) * | 2012-01-09 | 2012-07-11 | 东南大学 | Hopping robot capable of hopping continuously |
| CN103407512A (en) * | 2013-08-18 | 2013-11-27 | 北京工业大学 | Polymorphic spherical hopping robot |
| CN203832605U (en) * | 2014-04-10 | 2014-09-17 | 西北工业大学 | Telescopic spherical robot |
| CN204502404U (en) * | 2015-03-20 | 2015-07-29 | 薛旭桐 | A kind of ball-shaped toy |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111414777A (en) * | 2020-03-20 | 2020-07-14 | 合肥联宝信息技术有限公司 | Scanner and scanning method |
| CN111414777B (en) * | 2020-03-20 | 2022-02-08 | 合肥联宝信息技术有限公司 | Scanner and scanning method |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB03 | Change of inventor or designer information | ||
| CB03 | Change of inventor or designer information |
Inventor after: Lu Huimeng Inventor after: Guo Weiqiang Inventor after: Cang Huaixing Inventor after: Shi Jianyu Inventor after: Shang Xiaoya Inventor after: He Zhuoyue Inventor before: Guo Weiqiang Inventor before: Lu Huimeng Inventor before: He Zhuoyue Inventor before: Cang Huaixing Inventor before: Shi Jianyu |
|
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20181113 |